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94 osidepreloadandbackup #107

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Merged
BrodyKarr merged 4 commits into from
Aug 15, 2026
Merged

94 osidepreloadandbackup #107

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1dd2b43
94-OSidePreloadAndBackout
FRCTeam3255-Shared-K1-10 Aug 15, 2026
5382af4
Update RobotContainer.java
BrodyKarr Aug 15, 2026
d7f62f2
Merge branch 'main' into 94-osidepreloadandbackup
BrodyKarr Aug 15, 2026
c7ef1d5
made and tested OSidePreloadAndBackup
BrodyKarr Aug 15, 2026
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8 changes: 8 additions & 0 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@
import frc.robot.DeviceIDs.controllerIDs;
import frc.robot.commands.AddVisionMeasurement;
import frc.robot.commands.ResetPose;
import frc.robot.commands.states.ShootingOnFly;
import frc.robot.constants.ChoreoTraj;
import frc.robot.constants.ConstAuto;
import frc.robot.constants.ConstField;
Expand Down Expand Up @@ -299,6 +300,11 @@ public void configAutonomous() {
ConstAuto.OUTPOST_SHOOTING_TIMEOUT));
autoStartingPoses.put(OSideDoubleNeutralWithOutpost, ChoreoTraj.OSideTrenchToNeutral);

Command OSidePreloadAndBackup = Commands.sequence(
ShootingOnMove(ChoreoTraj.OSidePreloadAndBackup,
ConstAuto.OUTPOST_SHOOTING_TIMEOUT));
autoStartingPoses.put(OSidePreloadAndBackup, ChoreoTraj.OSidePreloadAndBackup);

// Example: Add autonomous routines to the chooser
// Add more autonomous routines as needed, e.g.:\
// autoChooser.addOption("Score and Leave", runPath("ScoreAndLeave"));
Expand All @@ -312,6 +318,7 @@ public void configAutonomous() {
autoChooser.addOption("OSideDoubleNeutral", OSideDoubleNeutral);
autoChooser.addOption("OSideNeutralWithOutpost", OSideNeutralWithOutpost);
autoChooser.addOption("OSideDoubleNeutralWithOutpost", OSideDoubleNeutralWithOutpost);
autoChooser.addOption("OSidePreloadAndBackup", OSidePreloadAndBackup);

// enter which we want to do based on name
autoChooser.onChange(selectedAuto -> {
Expand All @@ -327,6 +334,7 @@ public void configAutonomous() {
}

// START OF AUTO COMMANDS

Command ShootOnly(Command prepPreset, Time shootingTime, Time preppingTime) {
return Commands.sequence(
Commands.runOnce(() -> stateMachineInstance.setRobotState(RobotState.NONE)).asProxy(),
Expand Down
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